WO2023005068A1 - 机器人足端碰撞稳定控制方法、装置和足式机器人 - Google Patents

机器人足端碰撞稳定控制方法、装置和足式机器人 Download PDF

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WO2023005068A1
WO2023005068A1 PCT/CN2021/131466 CN2021131466W WO2023005068A1 WO 2023005068 A1 WO2023005068 A1 WO 2023005068A1 CN 2021131466 W CN2021131466 W CN 2021131466W WO 2023005068 A1 WO2023005068 A1 WO 2023005068A1
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collision
robot
foot end
trajectory
leg
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PCT/CN2021/131466
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English (en)
French (fr)
Inventor
陈春玉
刘益彰
葛利刚
白杰
周江琛
罗秋月
熊友军
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深圳市优必选科技股份有限公司
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Priority to US18/089,588 priority Critical patent/US20230133934A1/en
Publication of WO2023005068A1 publication Critical patent/WO2023005068A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance

Definitions

  • the present application relates to the technical field of legged robots, in particular to a method and device for stabilizing robot foot collisions and a legged robot.
  • the embodiment of the present application provides a robot foot end collision stability control method, device and legged robot.
  • the robot foot end collision stability control method can prevent the robot from falling or being damaged after the foot end collision occurs, and can ensure The safety of the robot itself and the external environment.
  • An embodiment of the present application provides a robot foot end collision stabilization control method.
  • the single-leg motion planning trajectory of the robot includes a foot end forward direction trajectory component, a lateral movement direction trajectory component and a lifting direction trajectory component; the method includes:
  • the trajectory component planning of the swing leg in the collision direction is stopped, and the trajectory component of the collision direction is the trajectory component in the forward direction and/or the trajectory in the sideways direction weight;
  • the position offset in the collision direction is calculated based on the foot end dragging control mode, and the position offset is determined based on the position offset.
  • the swing leg motion is controlled based on the replanned trajectory component in the collision direction and the desired trajectory component of the swing leg in a non-collision direction.
  • the calculation of the current position offset in the collision direction includes:
  • the expression of the foot end dragging control mode is as follows:
  • ⁇ X is the position offset
  • t 0 is the program control period of the robot.
  • the position offset in the collision direction includes the forward direction The positional offset on and/or the positional offset on the sideways direction;
  • the replanned trajectory component of the swing leg in the forward direction and/or the sideways direction is expressed as:
  • ⁇ X x and ⁇ X y represent the real-time calculated position offset.
  • the foot end of the robot is provided with a force sensor, and the X direction, the Y direction and the Z direction in the coordinate system of the force sensor correspond to the forward direction, the lateral movement direction and the lifting direction in sequence.
  • the detection of a foot-end collision of the swinging leg of the robot also includes:
  • the force sensor When the robot is in the swing phase, the force sensor is used to detect in real time the external force received by the foot end of the swing leg in the X direction, the Y direction and the Z direction;
  • the robot foot end collision stability control method also includes:
  • the movement of the swing leg is controlled according to the desired motion planning track of the swing leg.
  • the desired motion planning trajectory of the swinging leg is expressed as follows:
  • t is the leg-lifting time
  • T is the total time of the swing period
  • l x is the swing
  • the expected forward step of the leg ly is the expected lateral step of the swing leg
  • A, B, C and D are preset coefficients respectively.
  • An embodiment of the present application also provides a robot foot end collision stabilization control device, the single-leg motion planning trajectory of the robot includes a foot end forward direction trajectory component, a lateral movement direction trajectory component and a lifting direction trajectory component; the device includes:
  • a collision detection module configured to stop the trajectory component planning of the swing leg in the collision direction when detecting a foot-end collision of the swing leg of the robot, where the trajectory component in the collision direction is the trajectory component in the forward direction and/or The trajectory component of the lateral movement direction;
  • An offset calculation module configured to calculate the position offset in the collision direction based on the foot drag control mode based on the external force received by the foot end of the swing leg acquired in real time in the collision direction, and based on the obtained The position offset determines the replanned trajectory component in the collision direction;
  • a motion control module configured to control the motion of the swing leg according to the replanned trajectory component in the collision direction and the desired trajectory component of the swing leg in a non-collision direction.
  • An embodiment of the present application also provides a legged robot, the legged robot includes a processor and a memory, the memory stores a computer program, and the processor is used to execute the computer program to implement the robot foot end collision described above Stable control method.
  • the embodiment of the present application also provides a readable storage medium, which stores a computer program, and when the computer program is executed on a processor, implements the above-mentioned robot foot-end collision stability control method.
  • the expected planning of the swing leg in the collision direction is stopped, and the collision direction is calculated using the designed foot-end dragging control mode The position offset on , and then combined with the desired trajectory component in the non-collision direction to replan the trajectory of the swinging leg.
  • the drag mode controller design and trajectory re-planning process for the swinging legs the stable operation of the robot can be realized without problems such as falling or being damaged after the foot end collides, thus ensuring the safety of the robot itself and the external environment .
  • Fig. 1 shows a schematic diagram of the application of a biped robot encountering an obstacle
  • Fig. 2 shows a schematic flow chart of a method for controlling stability of robot foot collision in an embodiment of the present application
  • Fig. 3 shows another schematic flow chart of the robot foot end collision stabilization control method according to the embodiment of the present application
  • Fig. 4 shows the application schematic diagram of the direction of movement of the foot end of the legged robot of the embodiment of the present application
  • Fig. 5 shows a schematic structural diagram of a robot foot collision stabilization control device according to an embodiment of the present application.
  • the swing period refers to the period when at least one leg of the robot is in a suspended state without contact with the ground.
  • the legs in the suspended state are called swing legs.
  • m is the equivalent mass of the swinging leg
  • b is the preset parameter of the velocity term
  • k is the parameter of the proportional term
  • f represents the external force received by the swinging leg
  • X r represent the reference acceleration, reference speed and reference position respectively
  • X m represent the measured actual acceleration, actual speed, and actual position respectively.
  • the embodiment of the present application proposes a robot foot end collision stability control method.
  • the expected planning of the swing leg in the collision direction is immediately stopped, and the foot end drag control mode is used to calculate the collision direction.
  • the position offset is used to plan a new trajectory component in the collision direction, and at the same time, the trajectory of the swing leg is replanned in combination with the expected trajectory of the swing leg in the non-collision direction.
  • This method can realize the stable operation of the robot through the drag mode control and trajectory replanning of the foot end of the swinging leg, without falling or being damaged after the foot end collides, thus ensuring the safety of the robot itself and the external environment .
  • This embodiment proposes a robot foot end collision stabilization control method, which can be used in different scenarios such as climbing steps and the ground with obstacles, so as to realize that the robot will not fall when the foot end kicks an obstacle. In order to achieve the purpose of stable control.
  • the planned trajectory of the robot’s swing leg can be decomposed into three different directions, which are the trajectory component in the forward direction of the foot end, the lateral movement of the foot end The trajectory component in the direction and the trajectory component in the foot lift direction. Based on the above-mentioned motion trajectory, the method for stabilizing the collision of the foot end of the robot will be described below.
  • Step S110 when it is detected that the swing leg of the robot has a foot-end collision, stop planning the trajectory component of the swing leg in the collision direction.
  • this embodiment will stop the planning of the current trajectory component of the swing leg in the collision direction, so as to prevent the robot from following the original trajectory component. It is planned to continue the swing leg movement and cause more serious damage to the robot itself and the external environment.
  • stop planning control in order to realize the above-mentioned stop planning control, it is necessary to keep the leg-lifting time of the swinging leg at the moment of collision as t_max, and use t_max instead of the leg-raising time t in the subsequent planning, so that the swinging leg can move in the collision direction. Stop trajectory component planning. It can be understood that the pre-planned desired motion trajectory is only related to the leg raising time t, and when t is fixed to t_max, the corresponding trajectory will also remain unchanged.
  • the trajectory component of the collision direction when the robot collides in a certain direction, the trajectory component of the collision direction that needs to stop planning at this time should be decomposed into the above-mentioned three foot-end direction trajectory components.
  • the trajectory component in the collision direction if the robot is in a frontal collision, the trajectory component in the collision direction is the trajectory component in the forward direction; Collisions occur in both sidesway directions.
  • the trajectory components of the collision direction are the forward direction trajectory component and the sideways direction trajectory component. It can be understood that the trajectory component of the collision direction mainly depends on the shape of the collision between the robot and the external environment.
  • the robot foot end collision stability control method further includes, when the robot is in the swing phase, detecting the collision situation of the swing leg of the robot in real time.
  • the robot foot end collision stabilization control method includes:
  • step S210 when the robot is in the swing phase, the force sensor is used to detect in real time the external force received by the foot end of the swing leg in the X direction, the Y direction and the Z direction.
  • each leg of the robot may be provided with a force sensor at a corresponding position of the foot end for detecting force on the foot end of the swinging leg.
  • the above-mentioned force sensor is not limited to a six-dimensional force sensor, etc., wherein the six-dimensional force sensor can be used to measure three-dimensional force and three-dimensional moment, and here the required three-dimensional force measurement results can be selected for processing according to requirements.
  • the force sensor may be a force sensor or the like for measuring only three-dimensional force.
  • the measurement coordinate system of the force sensor is set corresponding to the movement direction of the foot end of the swing leg, so that the external forces in three directions measured by the force sensor at the foot end of the swing leg are directly used as the foot end of the swing leg External forces acting in the directions of the three motion profile components.
  • the X direction in the three-dimensional space coordinate system of the force sensor corresponds to the direction in which the foot end moves horizontally
  • the Y direction corresponds to the direction in which the foot end moves laterally
  • the Z direction corresponds to the direction in which the foot end moves vertically.
  • the starting direction is shown in Figure 4.
  • the six-dimensional force sensor can be used to detect in real time the movement trajectory of the foot end of the swing leg.
  • the external force acting in the direction of the component can be used to detect in real time the movement trajectory of the foot end of the swing leg. The external force acting in the direction of the component.
  • Step S220 if the external force received by the foot end of the swing leg in the X direction or the Y direction is greater than or equal to a preset threshold, it is determined that the swing leg collides.
  • a corresponding threshold F th can be set in a preset measurement direction, and then it can be judged in real time whether the external force received in the measurement direction is greater than or equal to the threshold. For example, if the force on the foot end of the swing leg in the measurement direction is greater than or equal to the force threshold F th , it is determined that the swing leg has collided with the external environment. On the contrary, if the force on the foot in the measuring direction is less than the force threshold F th , it is judged that no collision has occurred, and the detection is continued.
  • the magnitude of the above-mentioned threshold F th can be determined according to actual needs, and the thresholds in different measurement directions can be the same or different.
  • the preset measurement direction may be the X direction or the Y direction, etc. It can be understood that the preset measurement direction may be selected according to the actual external environment, and this is only an example.
  • Step S230 if the external force received by the foot end of the swing leg in the X direction or the Y direction is smaller than the preset threshold, then control the movement of the swing leg according to the expected motion planning trajectory of the swing leg.
  • the legged robot will walk normally according to the expected motion trajectory of the respective foot ends of the swing leg and the support leg that have been planned in advance.
  • the expected motion planning trajectory of the swing leg is as follows:
  • t is the leg raising time
  • T is the total time of the swing period
  • l x is the expected forward step of the swing leg
  • l y is the expected lateral step of the swing leg
  • A, B, C and D are preset coefficients respectively, Specifically, it can be set according to actual needs.
  • Step S120 calculate the position offset in the collision direction based on the force component of the foot end force of the swing leg in the collision direction acquired in real time based on the foot drag control mode, and determine the position offset based on the position offset.
  • the replanned trajectory component in the collision direction is
  • a new foot controller is designed in this embodiment to control the movement of the swinging leg. Considering that the swinging leg will move due to the impact of external forces when it collides, the swinging leg and foot will be moved here.
  • the model in which the terminal interacts with the external environment is designed as a drag control mode, which can make the swinging leg no longer return to the position when the collision occurs after being subjected to an external collision force.
  • the expression of the foot end dragging control mode is as follows:
  • the position offset calculation formula can be obtained by converting the foot end drag control mode and performing integral processing operations.
  • the position offset calculation formula is as follows:
  • ⁇ X is the position offset
  • t 0 is the program control cycle of the robot.
  • a new trajectory component of the swing leg in the collision direction can be planned and obtained according to the position offset of the swing leg in the collision direction in each control cycle.
  • the new trajectory component of the swing leg in the collision direction can be expressed as:
  • ⁇ X x represents the calculated position offset in the forward direction at time t.
  • the new trajectory components in the direction of lateral movement are as follows:
  • ⁇ X y represents the position offset calculated in the direction of lateral movement at time t, respectively.
  • the trajectory component of the collision direction at this time includes a trajectory component in the forward direction and a trajectory component in the sideways direction.
  • the new trajectory component of the swing leg in the collision direction can be expressed as:
  • step S120 exemplarily, substituting the external force acquired in real time on the foot end of the swinging leg in the collision direction into the above position offset calculation formula, the position offset on the corresponding trajectory component can be obtained, and then based on the previous moment The position of the current planning trajectory component can be obtained.
  • Step S130 controlling the motion of the swing leg according to the replanned trajectory component in the collision direction and the expected trajectory component of the swing leg in the non-collision direction.
  • the trajectory of the swinging leg will be replanned according to the replanned trajectory component of the swinging leg in the collision direction and the expected trajectory component in the non-collision direction, so as to change the trajectory of the swinging leg, which can avoid robot Returns to where it collided again after the collision.
  • the expected trajectory component of the swing leg in the non-collision direction means that the foot end of the swing leg will move according to its original expected trajectory component in the non-collision direction.
  • the trajectory component in the collision direction is the forward direction trajectory component
  • the expected trajectory component in the non-collision direction is the original trajectory component in the lateral movement direction and the lifting direction .
  • the trajectory of the swinging leg can be expressed as:
  • the swing leg will move according to the following trajectory:
  • this embodiment uses the designed foot end dragging mode to calculate the position offset of the swing leg in the collision direction, which can change the trajectory of the swing leg so that the robot can swing the leg after a collision. It will no longer return to the initial position at the time of collision, avoiding another collision.
  • the foot end collision stability control method of this embodiment can realize the stable operation of the robot by utilizing the dragging and trajectory replanning of the foot end of the swing leg without falling or being damaged after the foot end collision, thereby ensuring The safety of the robot itself and the external environment.
  • this embodiment proposes a robot foot end collision stability control device 100 .
  • the single-leg motion planning trajectory of the robot includes the trajectory component of the forward direction of the foot end, the trajectory component of the lateral movement direction and the trajectory component of the lifting direction.
  • the robot foot end collision stability control device 100 includes:
  • the collision detection module 110 is configured to stop the trajectory component planning of the swing leg in the collision direction when detecting a foot-end collision of the swing leg of the robot, where the trajectory component in the collision direction is the trajectory component in the forward direction and/or or the sideways direction trajectory component;
  • the offset calculation module 120 is configured to calculate the position offset in the collision direction based on the foot drag control mode based on the external force received by the foot end of the swing leg acquired in real time in the collision direction, and based on The position offset determines a replanned trajectory component in the collision direction;
  • a motion control module 130 configured to control the motion of the swing leg according to the replanned trajectory component in the collision direction and the expected trajectory component of the swing leg in a non-collision direction.
  • the device in this embodiment corresponds to the method in the above-mentioned embodiment 1, and the optional items in the above-mentioned embodiment 1 are also applicable to this embodiment, so the description will not be repeated here.
  • the present application also provides a legged robot, for example, a bipedal robot, a three-legged robot, and the like.
  • the footed robot includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program, so that the footed robot executes the above-mentioned robot foot collision stability control method or the above-mentioned robot foot The function of each module in the end impact stabilization control device.
  • the present application also provides a readable storage medium for storing the computer program used in the above legged robot.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams can be implemented by a dedicated hardware-based system that performs the specified function or action may be implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • each functional module or unit in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

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Abstract

一种机器人足端碰撞稳定控制方法、装置和足式机器人，机器人的单腿运动规划轨迹包括足端前进方向轨迹分量、侧移方向轨迹分量和抬起方向轨迹分量；该方法包括：在检测到机器人的摆动腿发生足端碰撞时，停止摆动腿在碰撞方向上的轨迹分量规划，碰撞方向的轨迹分量为前进方向轨迹分量和/或侧移方向轨迹分量；根据实时获取的摆动腿的足端在碰撞方向上受到的外力基于足端拖动控制模式计算碰撞方向上的位置偏移量；利用碰撞方向上的位置偏移量和在非碰撞方向上的期望轨迹分量控制摆动腿运动。该方法可以在机器人在发生足端碰撞后，避免出现摔倒或受到损坏等，保证了机器人自身或外界环境的安全。

Description

机器人足端碰撞稳定控制方法、装置和足式机器人
相关申请的交叉引用
本申请要求于2021年07月26日提交中国专利局的申请号为202110846375.X、名称为“机器人足端碰撞稳定控制方法、装置和足式机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及足式机器人技术领域，尤其涉及一种机器人足端碰撞稳定控制方法、装置和足式机器人。
背景技术
对于足式机器人而言，如双足机器人等，如图1所示，其在上台阶或走在带有障碍物的地面上时，如果外部感知信息出现误差或无外部传感信息时，当机器人踢到障碍物时，往往会导致机器人自身或外界障碍物受到损坏，或者机器人出现不稳定而摔倒的现象等。
申请内容
本申请实施例提供一种机器人足端碰撞稳定控制方法、装置和足式机器人，该机器人足端碰撞稳定控制方法可以在机器人发生足端碰撞后而不会出现摔倒或受到损坏等，可以保证机器人自身及外界环境的安全。
本申请的实施例提供一种机器人足端碰撞稳定控制方法，所述机器人的单腿运动规划轨迹包括足端前进方向轨迹分量、侧移方向轨迹分量和抬起方向轨迹分量；该方法包括：
在检测到机器人的摆动腿发生足端碰撞时，停止所述摆动腿在碰撞方向上的轨迹分量规划，所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量；
根据实时获取的所述摆动腿的足端在所述碰撞方向上受到的外力基于足端拖动控制模式计算所述碰撞方向上的位置偏移量，并基于所述位置偏移量确定所述碰撞方向上的再规划轨迹分量；
根据所述碰撞方向上的所述再规划轨迹分量和所述摆动腿在非碰撞方向上的期望轨迹分量控制所述摆动腿运动。
在一些实施例中，所述计算所述碰撞方向上的当前位置偏移量，之前包括：
对所述足端拖动控制模式进行积分转换操作，得到位置偏移计算公式，所述位置偏移计算公式用于根据所述摆动腿的足端在对应轨迹分量方向上受到的外力计算所述对应轨迹分量方向上的位置偏移量。
在一些实施例中，所述足端拖动控制模式的表达式如下：
Figure PCTCN2021131466-appb-000001
其中，
Figure PCTCN2021131466-appb-000002
和
Figure PCTCN2021131466-appb-000003
分别表示所述机器人的参考速度和测量的实际速度；b为预设参数；F为所述摆动腿的足端受到的外力；
所述位置偏移计算公式如下：
ΔX＝F·t 0/b；
其中，ΔX为位置偏移量；t 0为所述机器人的程序控制周期。
在一些实施例中，当所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量时，所述碰撞方向上的所述位置偏移量包括所述前进方向上的位置偏移量和/或所述侧移方向上的位置偏移量；
所述摆动腿在所述前进方向和/或所述侧移方向的再规划轨迹分量表示为：
Figure PCTCN2021131466-appb-000004
Figure PCTCN2021131466-appb-000005
其中，
Figure PCTCN2021131466-appb-000006
和
Figure PCTCN2021131466-appb-000007
分别表示所述摆动腿在所述前进方向上的t-1时刻和t时刻的位置；
Figure PCTCN2021131466-appb-000008
和
Figure PCTCN2021131466-appb-000009
分别表示所述摆动腿在所述侧移方向上的t-1时刻和t时刻的位置；ΔX x和ΔX y分别表示实时计算到的在所述前进方向和所述侧移方向上的所述位置偏移量。
在一些实施例中，所述机器人的足端设有力传感器，所述力传感器的坐标系中的X方向、Y方向和Z方向依次对应于所述前进方向、所述侧移方向和所述抬起方向；
所述检测到机器人的摆动腿发生足端碰撞，之前还包括：
当所述机器人处于摆动期时，通过所述力传感器实时检测所述摆动腿的足端在X方向、Y方向和Z方向上受到的外力；
若所述摆动腿的足端在X方向或Y方向上受到的外力大于等于预设阈值，则确定所 述摆动腿发生碰撞。
在上述实施例中，该机器人足端碰撞稳定控制方法还包括：
若所述摆动腿的足端在X方向或Y方向上受到的外力小于所述预设阈值，则按照期望的所述摆动腿的运动规划轨迹控制所述摆动腿运动。
在一些实施例中，所述摆动腿的期望运动规划轨迹表示如下：
Figure PCTCN2021131466-appb-000010
Figure PCTCN2021131466-appb-000011
Figure PCTCN2021131466-appb-000012
其中，
Figure PCTCN2021131466-appb-000013
和
Figure PCTCN2021131466-appb-000014
分别表示所述摆动腿足端的所述前进方向轨迹分量、所述侧移方向轨迹分量和所述抬起方向轨迹分量；t为抬腿时间；T为摆动期总时间；l x为所述摆动腿的期望前向步长；l y为所述摆动腿的期望侧向步长；A、B、C和D分别为预设系数。
本申请的实施例还提供一种机器人足端碰撞稳定控制装置，所述机器人的单腿运动规划轨迹包括足端前进方向轨迹分量、侧移方向轨迹分量和抬起方向轨迹分量；该装置包括：
碰撞检测模块，用于在检测到机器人的摆动腿发生足端碰撞时，停止所述摆动腿在碰撞方向上的轨迹分量规划，所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量；
偏移量计算模块，用于根据实时获取的所述摆动腿的足端在所述碰撞方向上受到的外力基于足端拖动控制模式计算所述碰撞方向上的位置偏移量，并基于所述位置偏移量确定所述碰撞方向上的再规划轨迹分量；
运动控制模块，用于根据所述碰撞方向上的所述再规划轨迹分量和所述摆动腿在非碰撞方向上的期望轨迹分量控制所述摆动腿运动。
本申请的实施例还提供一种足式机器人，所述足式机器人包括处理器和存储器，所述存储器存储有计算机程序，所述处理器用于执行所述计算机程序以实施上述的机器人足端碰撞稳定控制方法。
本申请的实施例还提供一种可读存储介质，其存储有计算机程序，所述计算机程序在处理器上执行时，实施上述的机器人足端碰撞稳定控制方法。
本申请的实施例具有如下有益效果：
本申请实施例的机器人足端碰撞稳定控制方法在检测到机器人的摆动腿发生足端碰撞时，停止摆动腿在碰撞方向上的期望规划，并利用设计的足端拖动控制模式计算该碰撞方向上的位置偏移量，然后结合非碰撞方向上的期望轨迹分量以对该摆动腿的轨迹进行再规划。通过对摆动腿进行拖动模式控制器设计与轨迹再规划处理，可以实现机器人的稳定运行，而不会出现足端碰撞后摔倒或受到损坏等问题，从而保证了机器人自身及外界环境的安全。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1示出了一种双足机器人碰到障碍物的应用示意图；
图2示出了本申请实施例机器人足端碰撞稳定控制方法的一种流程示意图；
图3示出了本申请实施例机器人足端碰撞稳定控制方法的另一种流程示意图；
图4示出了本申请实施例的足式机器人的足端运动方向的应用示意图；
图5示出了本申请实施例机器人足端碰撞稳定控制装置的结构示意图。
具体实施方式
下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。
通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
对于如双足机器人等足式机器人，在行走过程中会存在支撑期和摆动期，其中，摆动期是指该机器人存在至少一条腿处于悬空状态而没有与地面接触的时期，对应地，该 处于悬空状态的腿则称为摆动腿。例如，当足式机器人行走在设有障碍物的地面上或上阶梯等场景中，可能会与外界环境发生碰撞，进而因受到外界环境的冲击力而容易出现摔倒等问题。
此外，足式机器人的摆动腿与外界环境的交互通常可等效为质量-阻尼-弹簧模型，其动力学方程可描述为：
Figure PCTCN2021131466-appb-000015
其中，m为摆动腿的等效质量，b为速度项的预设参数，k为比例项参数，f表示摆动腿受到的外部作用力；
Figure PCTCN2021131466-appb-000016
X r分别表示参考加速度、参考速度、参考位置；
Figure PCTCN2021131466-appb-000017
X m分别表示测量得到的实际加速度、实际速度、实际位置。可知，当受到外力作用力后，基于上述的质量-阻尼-弹簧模型进行控制时，摆动腿将会发生回弹，往往会出现再次碰撞，这将导致机器人自身或外界环境会受到损坏等。
为此，本申请实施例提出一种机器人足端碰撞稳定控制方法，当发生碰撞时，通过立即停止摆动腿在碰撞方向上的期望规划，并利用足端拖动控制模式计算该碰撞方向上的位置偏移量以便规划出碰撞方向上的新轨迹分量，同时结合摆动腿在非碰撞方向上的期望轨迹来对摆动腿的轨迹进行再规划。该方法通过对摆动腿足端的拖动模式控制与轨迹再规划处理，可以实现机器人的稳定运行，而不会出现足端碰撞后摔倒或受到损坏等，从而保证了机器人自身及外界环境的安全。
下面结合具体的实施例来进行详细说明。
实施例1
请参照图2，本实施例提出一种机器人足端碰撞稳定控制方法，可用于如上台阶、带有障碍物的地面等不同场景中，以实现机器人当足端踢到障碍物时而不会出现摔倒或自身损坏等问题，从而达到稳定控制目的。
本实施例中，为方便对机器人的摆动腿进行运动控制，规划的该机器人的摆动腿的运动轨迹可分解到三个不同的方向，分别是足端前进方向上的轨迹分量、足端侧移方向上的轨迹分量和足端抬起方向上的轨迹分量。基于上述的运动轨迹，下面对该机器人足端碰撞稳定控制方法进行说明。
步骤S110，在检测到机器人的摆动腿发生足端碰撞时，停止摆动腿在碰撞方向上的轨迹分量规划。
当检测到机器人发生足端碰撞时，为了使得摆动腿不再恢复到碰撞时的位置，本实 施例将停止该摆动腿在碰撞方向上的当前轨迹分量的规划，以避免机器人按照原来的轨迹分量规划继续进行摆动腿运动而造成机器人自身和外界环境更严重的损坏。
在一种实施方式中，为了实现上述停止规划控制，这里需要保持碰撞时刻时的摆动腿的抬腿时间为t_max，在后续规划中采用t_max代替抬腿时间t，可以实现摆动腿在碰撞方向上停止轨迹分量规划。可以理解，预先规划的期望运动轨迹仅与抬腿时间t有关，当t固定为t_max时，对应的轨迹也将不变。
本实施例中，机器人在某个方向上发生碰撞，此时需要停止规划的该碰撞方向的轨迹分量应当能够分解到上述的三个足端方向的轨迹分量中。例如，在一种实施方式中，若该机器人为正向碰撞，则该碰撞方向的轨迹分量则为前进方向上的轨迹分量；又或者，若机器人为斜侧碰撞，即视为在前进方向和侧移方向上均发生碰撞，此时，该碰撞方向的轨迹分量为前进方向轨迹分量和侧移方向轨迹分量。可以理解，该碰撞方向的轨迹分量主要取决于机器人与外界环境发生碰撞的形态。
其中，在上述步骤S110之前，该机器人足端碰撞稳定控制方法还包括，当机器人处于摆动期时，实时检测机器人的摆动腿的碰撞情况。示范性地，如图3所示，该机器人足端碰撞稳定控制方法包括：
步骤S210，当机器人处于摆动期时，通过力传感器实时检测摆动腿的足端在X方向、Y方向和Z方向上受到的外力。
示范性地，机器人的每条腿可在足端相应位置设置力传感器，以用于检测摆动腿的足端受力情况。其中，上述的力传感器不限于为六维力传感器等，其中，六维力传感器可以用于对三维力和三维力矩的测量，这里可以根据需求选取所需的三维力的测量结果进行处理。此外，该力传感器也可以是仅用于测量三维力的力传感器等。
为方便计算，本实施例将力传感器的测量坐标系与摆动腿的足端运动方向对应设置，使得摆动腿足端的力传感器测量到的三个方向上的外部作用力直接作为该摆动腿足端在三个运动轨迹分量方向上受到的外力。
例如，在一种实施方式中，力传感器的三维空间坐标系中的X方向对应于足端水平前进的方向、Y方向对应于足端侧移的方向、以及Z方向对应于足端竖直抬起的方向，如图4所示。
以六维力传感器为例，对于上述步骤S210，示范性地，在足式机器人正常行走时，当机器人处于摆动期时，可通过六维力传感器实时检测该摆动腿的足端在各个运动轨迹 分量方向上受到的外力。
步骤S220，若该摆动腿的足端在X方向或Y方向上受到的外力大于等于预设阈值，则确定该摆动腿发生碰撞。
示范性地，可在预设测量方向上设置相应的阈值F th，进而实时判断该测量方向上受到的外部作用力是否大于或等于该阈值。例如，若该摆动腿在该测量方向上的足端受力大于或等于该受力阈值F th，则判断该摆动腿与外界环境发生碰撞。反之，若该测量方向上的足端受力小于该受力阈值F th，则判断未发生碰撞，并继续检测。
其中，上述的阈值F th的大小可根据实际需要来确定，不同测量方向上的阈值可以相同，也可以不同。例如，在一种实施方式中，该预设测量方向可以是X方向或Y方向等，可以理解，该预设测量方向可以根据实际的外界环境来相应选取，这里仅是一种示例。
步骤S230，若该摆动腿的足端在X方向或Y方向上受到的外力小于该预设阈值，则按照该摆动腿的期望运动规划轨迹控制该摆动腿运动。
在没有发生碰撞的情况下，足式机器人将按照预先规划好的摆动腿和支撑腿各自的足端期望运动轨迹进行正常行走。例如，在一种实施方式中，该摆动腿的期望运动规划轨迹如下：
Figure PCTCN2021131466-appb-000018
Figure PCTCN2021131466-appb-000019
Figure PCTCN2021131466-appb-000020
其中，
Figure PCTCN2021131466-appb-000021
和
Figure PCTCN2021131466-appb-000022
分别表示该摆动腿的前进方向轨迹分量(即X方向上的运动轨迹)、侧移方向轨迹分量(即Y方向上的运动轨迹)和抬起方向轨迹分量(即Z方向上的运动轨迹)；t为抬腿时间；T为摆动期总时间；l x为摆动腿的期望前向步长；l y为摆动腿的期望侧向步长；A、B、C和D分别为预设系数，具体可根据实际需求来设定。
步骤S120，根据实时获取的该摆动腿的足端受力在碰撞方向上的受力分量基于足端拖动控制模式计算该碰撞方向上的位置偏移量，并基于该位置偏移量确定该碰撞方向上的再规划轨迹分量。
当机器人进入碰撞阶段时，本实施例设计一个新的足端控制器来控制摆动腿的运动，考虑到摆动腿在发生碰撞时，由于受到外界力冲击后会引起位置移动，这里将摆动腿足端与外界环境交互的模型设计为拖动控制模式，可以使得摆动腿在受到外界碰撞力后不 再恢复到发生碰撞时的位置。
在一种实施方式中，该足端拖动控制模式的表达式如下：
Figure PCTCN2021131466-appb-000023
其中，
Figure PCTCN2021131466-appb-000024
和
Figure PCTCN2021131466-appb-000025
分别表示机器人的参考速度和测量的实际速度；b为预设参数；F为摆动腿的足端受到的外力。
进一步地，对足端拖动控制模式进行转换并作积分处理操作，可得到位置偏移计算公式。示范性地，该位置偏移计算公式如下：
ΔX＝F·t 0/b；
其中，ΔX为位置偏移量；t 0为机器人的程序控制周期。
进而，根据该摆动腿在各个控制周期的在碰撞方向上的位置偏移量即可规划得到该摆动腿在碰撞方向上的新轨迹分量。
以碰撞方向为前进方向为例，若摆动腿的足端在前进方向上受到的外力记为F x，代入该位置偏移计算公式后，可得到在前进方向上的位置偏移量ΔX x。对于其他的运动方向，同理。
仍以碰撞方向为前进方向为例，该摆动腿在碰撞方向上的新轨迹分量可表示为：
Figure PCTCN2021131466-appb-000026
其中，
Figure PCTCN2021131466-appb-000027
和
Figure PCTCN2021131466-appb-000028
分别表示该摆动腿在前进方向上的t-1时刻和t时刻的位置；ΔX x表示t时刻在前进方向计算得到的位置偏移量。
或者，若该碰撞方向为其他的运动方向，如侧移方向等，此时该侧移方向上的新轨迹分量如下：
Figure PCTCN2021131466-appb-000029
其中，
Figure PCTCN2021131466-appb-000030
和
Figure PCTCN2021131466-appb-000031
分别表示该摆动腿在侧移方向上的t-1时刻和t时刻的位置；ΔX y分别表示t时刻在侧移方向上计算得到的位置偏移量。
又或者，若该碰撞方向为斜碰撞方向，此时碰撞方向的轨迹分量包括前进方向轨迹分量和侧移方向轨迹分量。于是，该摆动腿在碰撞方向上的新轨迹分量可表示为：
Figure PCTCN2021131466-appb-000032
Figure PCTCN2021131466-appb-000033
对于上述步骤S120，示范性地，将实时获取的摆动腿的足端在碰撞方向上受到的外力代入上述位置偏移计算公式，可得到对应轨迹分量上的位置偏移量，进而基于上一 时刻的位置可得到当前的规划轨迹分量。
步骤S130，根据该碰撞方向上的再规划轨迹分量和该摆动腿在非碰撞方向上的期望轨迹分量控制摆动腿运动。
本实施例中，将根据摆动腿在碰撞方向上的再规划轨迹分量和在非碰撞方向上的期望轨迹分量来对该摆动腿进行运动轨迹再规划，以改变摆动腿的轨迹，这样可以避免机器人碰撞后再次回到碰撞的位置。其中，所述的摆动腿在非碰撞方向上的期望轨迹分量是指，摆动腿足端在非碰撞方向上将按照其原来的期望轨迹分量进行运动。
在第一种实施方式中，若碰撞方向为前进方向，则该碰撞方向的轨迹分量为前进方向轨迹分量，该非碰撞方向上的期望轨迹分量则为侧移方向和抬起方向的原来轨迹分量。例如，以上述的侧移方向和抬起方向的期望轨迹规划为例，此时该摆动腿的运动轨迹可表示为：
Figure PCTCN2021131466-appb-000034
又例如，在另一种实施方式中，若该碰撞方向的轨迹分量包括前进方向轨迹分量和侧移方向轨迹分量，则该摆动腿将按照如下的运动轨迹进行运动：
Figure PCTCN2021131466-appb-000035
可以理解，本实施例在足端碰撞阶段利用设计的足端拖动模式来计算摆动腿在碰撞方向上的位置偏移量，可以改变摆动腿的运动轨迹，使得机器人在发生碰撞后，摆动腿不会再恢复到碰撞时的初始位置，避免了再次碰撞。
本实施例的足端碰撞稳定控制方法通过利用对摆动腿足端的拖动与轨迹再规划处理，可以实现机器人的稳定运行，而不会出现足端碰撞后摔倒或受到损坏等，从而保证了机器人自身及外界环境的安全。
实施例2
请参照图5，基于上述实施例1的方法，本实施例提出一种机器人足端碰撞稳定控制装置100。本实施例中，该机器人的单腿运动规划轨迹包括足端前进方向轨迹分量、侧移方向轨迹分量和抬起方向轨迹分量。
示范性地，该机器人足端碰撞稳定控制装置100包括：
碰撞检测模块110，用于在检测到机器人的摆动腿发生足端碰撞时，停止所述摆动腿在碰撞方向上的轨迹分量规划，所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量；
偏移量计算模块120，用于根据实时获取的所述摆动腿的足端在所述碰撞方向上受到的外力基于足端拖动控制模式计算所述碰撞方向上的位置偏移量，并基于所述位置偏移量确定所述碰撞方向上的再规划轨迹分量；
运动控制模块130，用于根据所述碰撞方向上的所述再规划轨迹分量和所述摆动腿在非碰撞方向上的期望轨迹分量控制所述摆动腿运动。
可以理解，本实施例的装置对应于上述实施例1的方法，上述实施例1中的可选项同样适用于本实施例，故在此不再重复描述。
本申请还提供了一种足式机器人，例如，可以是双足机器人、三足机器人等。示范性地，该足式机器人包括处理器和存储器，其中，存储器存储有计算机程序，处理器通过运行所述计算机程序，从而使足式机器人执行上述的机器人足端碰撞稳定控制方法或者上述机器人足端碰撞稳定控制装置中的各个模块的功能。
本申请还提供了一种可读存储介质，用于储存上述足式机器人中使用的所述计算机程序。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和结构图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，结构图和/或流程图中的每个方框、以及结构图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块或单元可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或更多个模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是智能手机、个人计算机、服务器、或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。

Claims (10)

  1. 一种机器人足端碰撞稳定控制方法，其特征在于，所述机器人的单腿运动规划轨迹包括足端前进方向轨迹分量、侧移方向轨迹分量和抬起方向轨迹分量；该方法包括：
    在检测到机器人的摆动腿发生足端碰撞时，停止所述摆动腿在碰撞方向上的轨迹分量规划，所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量；
    根据实时获取的所述摆动腿的足端在所述碰撞方向上受到的外力基于足端拖动控制模式计算所述碰撞方向上的位置偏移量，并基于所述位置偏移量确定所述碰撞方向上的再规划轨迹分量；
    根据所述碰撞方向上的所述再规划轨迹分量和所述摆动腿在非碰撞方向上的期望轨迹分量控制所述摆动腿运动。
  2. 根据权利要求1所述的机器人足端碰撞稳定控制方法，其特征在于，所述计算所述碰撞方向上的当前位置偏移量，之前包括：
    对所述足端拖动控制模式进行积分转换操作，得到位置偏移计算公式，所述位置偏移计算公式用于根据所述摆动腿的足端在对应轨迹分量方向上受到的外力计算所述对应轨迹分量方向上的位置偏移量。
  3. 根据权利要求2所述的机器人足端碰撞稳定控制方法，其特征在于，所述足端拖动控制模式的表达式如下：
    Figure PCTCN2021131466-appb-100001
    其中，
    Figure PCTCN2021131466-appb-100002
    和
    Figure PCTCN2021131466-appb-100003
    分别表示所述机器人的参考速度和测量的实际速度；b为预设参数；F为所述摆动腿的足端受到的外力；
    所述位置偏移计算公式如下：
    ΔX＝F·t 0/b；
    其中，ΔX为位置偏移量；t 0为所述机器人的程序控制周期。
  4. 根据权利要求1至3中任一项所述的机器人足端碰撞稳定控制方法，其特征在于，当所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量时，所述碰撞方向上的所述位置偏移量包括所述前进方向上的位置偏移量和/或所述侧移方向上的位置偏移量；
    所述摆动腿在所述前进方向和/或所述侧移方向的再规划轨迹分量表示为：
    Figure PCTCN2021131466-appb-100004
    Figure PCTCN2021131466-appb-100005
    其中，
    Figure PCTCN2021131466-appb-100006
    和
    Figure PCTCN2021131466-appb-100007
    分别表示所述摆动腿在所述前进方向上的t-1时刻和t时刻的位置；
    Figure PCTCN2021131466-appb-100008
    和
    Figure PCTCN2021131466-appb-100009
    分别表示所述摆动腿在所述侧移方向上的t-1时刻和t时刻的位置；ΔX x和ΔX y分别表示实时计算到的在所述前进方向和所述侧移方向上的所述位置偏移量。
  5. 根据权利要求1所述的机器人足端碰撞稳定控制方法，其特征在于，所述机器人的足端设有力传感器，所述力传感器的坐标系中的X方向、Y方向和Z方向依次对应于所述前进方向、所述侧移方向和所述抬起方向；
    所述检测到机器人的摆动腿发生足端碰撞，之前还包括：
    当所述机器人处于摆动期时，通过所述力传感器实时检测所述摆动腿的足端在X方向、Y方向和Z方向上受到的外力；
    若所述摆动腿的足端在X方向或Y方向上受到的外力大于等于预设阈值，则确定所述摆动腿发生碰撞。
  6. 根据权利要求5所述的机器人足端碰撞稳定控制方法，其特征在于，还包括：
    若所述摆动腿的足端在X方向或Y方向上受到的外力小于所述预设阈值，则按照所述摆动腿的期望运动规划轨迹控制所述摆动腿运动。
  7. 根据权利要求6所述的方法，其特征在于，所述摆动腿的期望运动规划轨迹表示如下：
    Figure PCTCN2021131466-appb-100010
    Figure PCTCN2021131466-appb-100011
    Figure PCTCN2021131466-appb-100012
    其中，
    Figure PCTCN2021131466-appb-100013
    和
    Figure PCTCN2021131466-appb-100014
    分别表示所述摆动腿足端的所述前进方向轨迹分量、所述侧移方向轨迹分量和所述抬起方向轨迹分量；t为抬腿时间；T为摆动期总时间；l x为所述摆动腿的期望前向步长；l y为所述摆动腿的期望侧向步长；A、B、C和D分别为预设系数。
  8. 一种机器人足端碰撞稳定控制装置，其特征在于，所述机器人的单腿运动规划轨迹包括足端前进方向轨迹分量、侧移方向轨迹分量和抬起方向轨迹分量；该装置包括：
    碰撞检测模块，用于在检测到机器人的摆动腿发生足端碰撞时，停止所述摆动腿在 碰撞方向上的轨迹分量规划，所述碰撞方向的轨迹分量为所述前进方向轨迹分量和/或所述侧移方向轨迹分量；
    偏移量计算模块，用于根据实时获取的所述摆动腿的足端在所述碰撞方向上受到的外力基于足端拖动控制模式计算所述碰撞方向上的位置偏移量，并基于所述位置偏移量确定所述碰撞方向上的再规划轨迹分量；
    运动控制模块，用于根据所述碰撞方向上的所述再规划轨迹分量和所述摆动腿在非碰撞方向上的期望轨迹分量控制所述摆动腿运动。
  9. 一种足式机器人，其特征在于，所述足式机器人包括处理器和存储器，所述存储器存储有计算机程序，所述处理器用于执行所述计算机程序以实施权利要求1-7中任一项所述的机器人足端碰撞稳定控制方法。
  10. 一种可读存储介质，其特征在于，其存储有计算机程序，所述计算机程序在处理器上执行时，实施根据权利要求1-7中任一项所述的机器人足端碰撞稳定控制方法。
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